X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_mmc5983.c;h=02df7a2661e82149403f16215db53101c0c2ef3b;hb=HEAD;hp=4dd4a598c2c0ba04a3df2471e89c9b9af49f4e66;hpb=236d80fac2b4293c5750c9d80b387afd4d0fc5cc;p=fw%2Faltos

diff --git a/src/drivers/ao_mmc5983.c b/src/drivers/ao_mmc5983.c
index 4dd4a598..02df7a26 100644
--- a/src/drivers/ao_mmc5983.c
+++ b/src/drivers/ao_mmc5983.c
@@ -30,6 +30,60 @@ static struct ao_mmc5983_sample	ao_mmc5983_offset;
 static uint8_t	ao_mmc5983_configured;
 
 #ifdef MMC5983_I2C
+#ifdef AO_MMC5983_I2C_INDEX
+
+static void
+ao_mmc5983_start(void) {
+	ao_i2c_get(AO_MMC5983_I2C_INDEX);
+}
+
+static void
+ao_mmc5983_stop(void) {
+	ao_i2c_put(AO_MMC5983_I2C_INDEX);
+}
+
+static void
+ao_mmc5983_reg_write(uint8_t addr, uint8_t data)
+{
+	uint8_t d[2];
+
+	d[0] = addr;
+	d[1] = data;
+
+	ao_mmc5983_start();
+	ao_i2c_start(AO_MMC5983_I2C_INDEX, MMC5983_I2C_ADDR);
+	ao_i2c_send(d, 2, AO_MMC5983_I2C_INDEX, true);
+	ao_mmc5983_stop();
+}
+
+static uint8_t
+ao_mmc5983_reg_read(uint8_t addr)
+{
+	uint8_t d[1];
+
+	ao_mmc5983_start();
+	ao_i2c_start(AO_MMC5983_I2C_INDEX, MMC5983_I2C_ADDR);
+	d[0] = addr;
+	ao_i2c_send(d, 1, AO_MMC5983_I2C_INDEX, false);
+	ao_i2c_start(AO_MMC5983_I2C_INDEX, MMC5983_I2C_ADDR | 1);
+	ao_i2c_recv(d, 1, AO_MMC5983_I2C_INDEX, true);
+	ao_mmc5983_stop();
+	return d[0];
+}
+
+static void
+ao_mmc5983_raw(struct ao_mmc5983_raw *raw)
+{
+	ao_mmc5983_start();
+	ao_i2c_start(AO_MMC5983_I2C_INDEX, MMC5983_I2C_ADDR);
+	raw->addr = MMC5983_X_OUT_0;
+	ao_i2c_send(&(raw->addr), 1, AO_MMC5983_I2C_INDEX, false);
+	ao_i2c_start(AO_MMC5983_I2C_INDEX, MMC5983_I2C_ADDR | 1);
+	ao_i2c_recv(&(raw->x0), sizeof(*raw) - 1, AO_MMC5983_I2C_INDEX, true);
+	ao_mmc5983_stop();
+}
+
+#else
 #include <ao_i2c_bit.h>
 
 static void
@@ -70,8 +124,10 @@ ao_mmc5983_raw(struct ao_mmc5983_raw *raw)
 	ao_i2c_bit_stop();
 }
 
+#endif
+
 #else
-#define AO_MMC5983_SPI_SPEED	ao_spi_speed(2000000)
+#define AO_MMC5983_SPI_SPEED	ao_spi_speed(AO_MMC5983_SPI_INDEX, 2000000)
 
 static void
 ao_mmc5983_start(void) {
@@ -141,7 +197,7 @@ sat_sub(int16_t a, int16_t b)
 		v = -32768;
 	if (v > 32767)
 		v = 32767;
-	return v;
+	return (int16_t) v;
 }
 
 /* Wait for a synchronous sample to finish */
@@ -179,9 +235,9 @@ ao_mmc5983_sample(struct ao_mmc5983_sample *s)
 	ao_mmc5983_raw(&raw);
 
 	/* Bias by 32768 to convert from uint16_t to int16_t */
-	s->x = (int32_t) (((uint16_t) raw.x0 << 8) | raw.x1) - 32768;
-	s->y = (int32_t) (((uint16_t) raw.y0 << 8) | raw.y1) - 32768;
-	s->z = (int32_t) (((uint16_t) raw.z0 << 8) | raw.z1) - 32768;;
+	s->x = (int16_t) ((((uint16_t) raw.x0 << 8) | raw.x1) - 32768);
+	s->y = (int16_t) ((((uint16_t) raw.y0 << 8) | raw.y1) - 32768);
+	s->z = (int16_t) ((((uint16_t) raw.z0 << 8) | raw.z1) - 32768);
 }
 
 /* Synchronously sample the sensors */
@@ -217,9 +273,9 @@ ao_mmc5983_cal(void)
 	ao_mmc5983_sync_sample(&reset);
 
 	/* The zero point is the average of SET and RESET values */
-	ao_mmc5983_offset.x = ((int32_t) set.x + (int32_t) reset.x) / 2;
-	ao_mmc5983_offset.y = ((int32_t) set.y + (int32_t) reset.y) / 2;
-	ao_mmc5983_offset.z = ((int32_t) set.z + (int32_t) reset.z) / 2;
+	ao_mmc5983_offset.x = (int16_t) (((int32_t) set.x + (int32_t) reset.x) / 2);
+	ao_mmc5983_offset.y = (int16_t) (((int32_t) set.y + (int32_t) reset.y) / 2);
+	ao_mmc5983_offset.z = (int16_t) (((int32_t) set.z + (int32_t) reset.z) / 2);
 }
 
 /* Configure the device to automatically sample at 200Hz */
@@ -356,9 +412,7 @@ ao_mmc5983_init(void)
 {
 	ao_mmc5983_configured = 0;
 
-#ifdef MMC5983_I2C
-	ao_enable_output(AO_MMC5983_SPI_CS_PORT, AO_MMC5983_SPI_CS_PIN, 1);
-#else
+#ifndef MMC5983_I2C
 	ao_enable_input(AO_MMC5983_SPI_MISO_PORT,
 			AO_MMC5983_SPI_MISO_PIN,
 			AO_EXTI_MODE_PULL_NONE);